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<a href="#nested-classes">类</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pub-static-methods">静态 Public 成员函数</a> &#124;
<a href="#pub-attribs">Public 属性</a> &#124;
<a href="#pri-methods">Private 成员函数</a> &#124;
<a href="#pri-static-methods">静态 Private 成员函数</a> &#124;
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<a href="classpcl_1_1on__nurbs_1_1_fitting_curve-members.html">所有成员列表</a>  </div>
  <div class="headertitle">
<div class="title">pcl::on_nurbs::FittingCurve类 参考</div>  </div>
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<p>Fitting a 3D B-Spline curve to point-clouds using point-distance-minimization and optionally asymmetric-distance-minimization Based on paper: TODO  
 <a href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="fitting__curve__pdm_8h_source.html">fitting_curve_pdm.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
类</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1on__nurbs_1_1_fitting_curve_1_1_parameter.html">Parameter</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:acccbca624d0279f369c0ddc3421cb0e3"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#acccbca624d0279f369c0ddc3421cb0e3">FittingCurve</a> (int order, <a class="el" href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve.html">NurbsDataCurve</a> *data)</td></tr>
<tr class="memdesc:acccbca624d0279f369c0ddc3421cb0e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor initializing B-Spline curve using initNurbsCurve2D(...).  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#acccbca624d0279f369c0ddc3421cb0e3">更多...</a><br /></td></tr>
<tr class="separator:acccbca624d0279f369c0ddc3421cb0e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afeb7342a529b00bcc0ce6091cac8783f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#afeb7342a529b00bcc0ce6091cac8783f">FittingCurve</a> (<a class="el" href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve.html">NurbsDataCurve</a> *data, const <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;ns)</td></tr>
<tr class="memdesc:afeb7342a529b00bcc0ce6091cac8783f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor initializing with the B-Spline curve given in argument 2.  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#afeb7342a529b00bcc0ce6091cac8783f">更多...</a><br /></td></tr>
<tr class="separator:afeb7342a529b00bcc0ce6091cac8783f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac986784079b5dafd7ab578b0415f8a7c"><td class="memItemLeft" align="right" valign="top"><a id="ac986784079b5dafd7ab578b0415f8a7c"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#ac986784079b5dafd7ab578b0415f8a7c">refine</a> ()</td></tr>
<tr class="memdesc:ac986784079b5dafd7ab578b0415f8a7c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Refines curve by inserting a knot in the middle of each element. <br /></td></tr>
<tr class="separator:ac986784079b5dafd7ab578b0415f8a7c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aefb1370337dea2ba393b464fe0fcd0a0"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#aefb1370337dea2ba393b464fe0fcd0a0">assemble</a> (const <a class="el" href="structpcl_1_1on__nurbs_1_1_fitting_curve_1_1_parameter.html">Parameter</a> &amp;parameter)</td></tr>
<tr class="memdesc:aefb1370337dea2ba393b464fe0fcd0a0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assemble the system of equations for fitting  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#aefb1370337dea2ba393b464fe0fcd0a0">更多...</a><br /></td></tr>
<tr class="separator:aefb1370337dea2ba393b464fe0fcd0a0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afd08fb0cd959bc8d6e5fb3dcf2049f27"><td class="memItemLeft" align="right" valign="top"><a id="afd08fb0cd959bc8d6e5fb3dcf2049f27"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#afd08fb0cd959bc8d6e5fb3dcf2049f27">solve</a> (double damp=1.0)</td></tr>
<tr class="memdesc:afd08fb0cd959bc8d6e5fb3dcf2049f27"><td class="mdescLeft">&#160;</td><td class="mdescRight">Solve system of equations using Eigen or UmfPack (can be defined in on_nurbs.cmake), and updates B-Spline curve if a solution can be obtained. <br /></td></tr>
<tr class="separator:afd08fb0cd959bc8d6e5fb3dcf2049f27"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0cbfb2926c5daeb77755ee3ef7dedcdf"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#a0cbfb2926c5daeb77755ee3ef7dedcdf">updateCurve</a> (double damp)</td></tr>
<tr class="memdesc:a0cbfb2926c5daeb77755ee3ef7dedcdf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update curve according to the current system of equations.  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#a0cbfb2926c5daeb77755ee3ef7dedcdf">更多...</a><br /></td></tr>
<tr class="separator:a0cbfb2926c5daeb77755ee3ef7dedcdf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae75cb080d3b9eb370bb51afd928f0b9c"><td class="memItemLeft" align="right" valign="top"><a id="ae75cb080d3b9eb370bb51afd928f0b9c"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#ae75cb080d3b9eb370bb51afd928f0b9c">setQuiet</a> (bool val)</td></tr>
<tr class="memdesc:ae75cb080d3b9eb370bb51afd928f0b9c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enable/Disable debug outputs in console. <br /></td></tr>
<tr class="separator:ae75cb080d3b9eb370bb51afd928f0b9c"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
静态 Public 成员函数</h2></td></tr>
<tr class="memitem:afe26453bc08dabd7215946a7ff4f9841"><td class="memItemLeft" align="right" valign="top">static int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#afe26453bc08dabd7215946a7ff4f9841">findElement</a> (double xi, const std::vector&lt; double &gt; &amp;elements)</td></tr>
<tr class="memdesc:afe26453bc08dabd7215946a7ff4f9841"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find the element in which the parameter xi lies.  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#afe26453bc08dabd7215946a7ff4f9841">更多...</a><br /></td></tr>
<tr class="separator:afe26453bc08dabd7215946a7ff4f9841"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae5ab9b5d79b88150a791f259538106f9"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#ae5ab9b5d79b88150a791f259538106f9">initNurbsCurve2D</a> (int order, const vector_vec2d &amp;data)</td></tr>
<tr class="memdesc:ae5ab9b5d79b88150a791f259538106f9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize a closed B-Spline curve using the bounding circle of the point-cloud.  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#ae5ab9b5d79b88150a791f259538106f9">更多...</a><br /></td></tr>
<tr class="separator:ae5ab9b5d79b88150a791f259538106f9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3812e959c790f53fa88d286caf1f3c87"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#a3812e959c790f53fa88d286caf1f3c87">initNurbsCurvePCA</a> (int order, const vector_vec3d &amp;data, int ncps=0, double rf=1.0)</td></tr>
<tr class="memdesc:a3812e959c790f53fa88d286caf1f3c87"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize a closed B-Spline curve using the eigenvalues as elliptic parameters (z=0).  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#a3812e959c790f53fa88d286caf1f3c87">更多...</a><br /></td></tr>
<tr class="separator:a3812e959c790f53fa88d286caf1f3c87"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9a07a7bb3dfa8a764ebe35c48b8a7933"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#a9a07a7bb3dfa8a764ebe35c48b8a7933">inverseMapping</a> (const <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nurbs, const Eigen::Vector3d &amp;pt, const double &amp;hint, double &amp;error, Eigen::Vector3d &amp;p, Eigen::Vector3d &amp;t, int maxSteps=100, double accuracy=1e-6, bool quiet=true)</td></tr>
<tr class="memdesc:a9a07a7bb3dfa8a764ebe35c48b8a7933"><td class="mdescLeft">&#160;</td><td class="mdescRight">Inverse mapping / point inversion: Given a point pt, this function finds the closest point on the B-Spline curve using Newtons method and point-distance (L2-, Euclidean norm).  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#a9a07a7bb3dfa8a764ebe35c48b8a7933">更多...</a><br /></td></tr>
<tr class="separator:a9a07a7bb3dfa8a764ebe35c48b8a7933"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a04eccfba654fc6d6ab7638720bed073b"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#a04eccfba654fc6d6ab7638720bed073b">findClosestElementMidPoint</a> (const <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nurbs, const Eigen::Vector3d &amp;pt)</td></tr>
<tr class="memdesc:a04eccfba654fc6d6ab7638720bed073b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given a point pt, the function finds the closest midpoint of the elements of the curve.  <a href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#a04eccfba654fc6d6ab7638720bed073b">更多...</a><br /></td></tr>
<tr class="separator:a04eccfba654fc6d6ab7638720bed073b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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Public 属性</h2></td></tr>
<tr class="memitem:a501154ef94a97fd7feaa99093daee9ca"><td class="memItemLeft" align="right" valign="top"><a id="a501154ef94a97fd7feaa99093daee9ca"></a>
<a class="el" href="class_o_n___text_log.html">ON_TextLog</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_out</b></td></tr>
<tr class="separator:a501154ef94a97fd7feaa99093daee9ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2d472bf997a467ebe327b5d057459062"><td class="memItemLeft" align="right" valign="top"><a id="a2d472bf997a467ebe327b5d057459062"></a>
<a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_nurbs</b></td></tr>
<tr class="separator:a2d472bf997a467ebe327b5d057459062"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aec7d47bdcca0412ea7986c20760448ed"><td class="memItemLeft" align="right" valign="top"><a id="aec7d47bdcca0412ea7986c20760448ed"></a>
<a class="el" href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve.html">NurbsDataCurve</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>m_data</b></td></tr>
<tr class="separator:aec7d47bdcca0412ea7986c20760448ed"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-methods"></a>
Private 成员函数</h2></td></tr>
<tr class="memitem:aa84f2a5cf4c63f4f32cb6c64401e933e"><td class="memItemLeft" align="right" valign="top"><a id="aa84f2a5cf4c63f4f32cb6c64401e933e"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#aa84f2a5cf4c63f4f32cb6c64401e933e">addPointConstraint</a> (const double &amp;param, const Eigen::Vector3d &amp;point, double weight, unsigned &amp;row)</td></tr>
<tr class="memdesc:aa84f2a5cf4c63f4f32cb6c64401e933e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add minimization constraint: point-to-surface distance (point-distance-minimization). <br /></td></tr>
<tr class="separator:aa84f2a5cf4c63f4f32cb6c64401e933e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a38742e8ab93864b2bc418a1ecb452cdd"><td class="memItemLeft" align="right" valign="top"><a id="a38742e8ab93864b2bc418a1ecb452cdd"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#a38742e8ab93864b2bc418a1ecb452cdd">addCageRegularisation</a> (double weight, unsigned &amp;row)</td></tr>
<tr class="memdesc:a38742e8ab93864b2bc418a1ecb452cdd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add minimization constraint: smoothness by control point regularisation. <br /></td></tr>
<tr class="separator:a38742e8ab93864b2bc418a1ecb452cdd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa2e3b04432b40f2501450476f4d9d8a5"><td class="memItemLeft" align="right" valign="top"><a id="aa2e3b04432b40f2501450476f4d9d8a5"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#aa2e3b04432b40f2501450476f4d9d8a5">assembleInterior</a> (double wInt, unsigned &amp;row)</td></tr>
<tr class="memdesc:aa2e3b04432b40f2501450476f4d9d8a5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assemble point-to-surface constraints. <br /></td></tr>
<tr class="separator:aa2e3b04432b40f2501450476f4d9d8a5"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
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静态 Private 成员函数</h2></td></tr>
<tr class="memitem:a7dd6266488a9f753b5d55832b5d03036"><td class="memItemLeft" align="right" valign="top"><a id="a7dd6266488a9f753b5d55832b5d03036"></a>
static std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_curve.html#a7dd6266488a9f753b5d55832b5d03036">getElementVector</a> (const <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nurbs)</td></tr>
<tr class="memdesc:a7dd6266488a9f753b5d55832b5d03036"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the elements of a B-Spline curve. <br /></td></tr>
<tr class="separator:a7dd6266488a9f753b5d55832b5d03036"><td class="memSeparator" colspan="2">&#160;</td></tr>
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Private 属性</h2></td></tr>
<tr class="memitem:af692924a2f50ef3e84a51d2d56280bca"><td class="memItemLeft" align="right" valign="top"><a id="af692924a2f50ef3e84a51d2d56280bca"></a>
<a class="el" href="classpcl_1_1on__nurbs_1_1_nurbs_solve.html">NurbsSolve</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_solver</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>m_quiet</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>in_max_steps</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>in_accuracy</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p>Fitting a 3D B-Spline curve to point-clouds using point-distance-minimization and optionally asymmetric-distance-minimization Based on paper: TODO </p>
<dl class="section author"><dt>作者</dt><dd>Thomas Mörwald </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="acccbca624d0279f369c0ddc3421cb0e3"></a>
<h2 class="memtitle"><span class="permalink"><a href="#acccbca624d0279f369c0ddc3421cb0e3">&#9670;&nbsp;</a></span>FittingCurve() <span class="overload">[1/2]</span></h2>

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          <td class="memname">pcl::on_nurbs::FittingCurve::FittingCurve </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>order</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve.html">NurbsDataCurve</a> *&#160;</td>
          <td class="paramname"><em>data</em>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>Constructor initializing B-Spline curve using initNurbsCurve2D(...). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">order</td><td>the polynomial order of the B-Spline curve. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">data</td><td>pointer to the 3D point-cloud data to be fit </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#afeb7342a529b00bcc0ce6091cac8783f">&#9670;&nbsp;</a></span>FittingCurve() <span class="overload">[2/2]</span></h2>

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          <td>(</td>
          <td class="paramtype"><a class="el" href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve.html">NurbsDataCurve</a> *&#160;</td>
          <td class="paramname"><em>data</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;&#160;</td>
          <td class="paramname"><em>ns</em>&#160;</td>
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<p>Constructor initializing with the B-Spline curve given in argument 2. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">data</td><td>pointer to the 3D point-cloud data to be fit. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">nc</td><td>B-Spline curve used for fitting. </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="groupheader">成员函数说明</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#aefb1370337dea2ba393b464fe0fcd0a0">&#9670;&nbsp;</a></span>assemble()</h2>

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          <td class="memname">void pcl::on_nurbs::FittingCurve::assemble </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1on__nurbs_1_1_fitting_curve_1_1_parameter.html">Parameter</a> &amp;&#160;</td>
          <td class="paramname"><em>parameter</em></td><td>)</td>
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<p>Assemble the system of equations for fitting </p>
<ul>
<li>for large point-clouds this is time consuming.</li>
<li>should be done once before refinement to initialize the starting points for point inversion. </li>
</ul>

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<h2 class="memtitle"><span class="permalink"><a href="#a04eccfba654fc6d6ab7638720bed073b">&#9670;&nbsp;</a></span>findClosestElementMidPoint()</h2>

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          <td class="memname">static double pcl::on_nurbs::FittingCurve::findClosestElementMidPoint </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;&#160;</td>
          <td class="paramname"><em>nurbs</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>pt</em>&#160;</td>
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<p>Given a point pt, the function finds the closest midpoint of the elements of the curve. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">nurbs</td><td>the B-Spline curve. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">pt</td><td>the point to which the closest midpoint of the elements will be computed. return closest midpoint in parametric domain. </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#afe26453bc08dabd7215946a7ff4f9841">&#9670;&nbsp;</a></span>findElement()</h2>

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          <td class="memname">static int pcl::on_nurbs::FittingCurve::findElement </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>xi</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; double &gt; &amp;&#160;</td>
          <td class="paramname"><em>elements</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>Find the element in which the parameter xi lies. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">xi</td><td>value in parameter domain of the B-Spline curve. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">elements</td><td>the vector of elements of the curve. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>index of the element with respect to elements. </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ae5ab9b5d79b88150a791f259538106f9">&#9670;&nbsp;</a></span>initNurbsCurve2D()</h2>

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          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>order</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const vector_vec2d &amp;&#160;</td>
          <td class="paramname"><em>data</em>&#160;</td>
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          <td>)</td>
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<p>Initialize a closed B-Spline curve using the bounding circle of the point-cloud. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">order</td><td>polynomial order of the curve. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">data</td><td>3D point-cloud </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>B-Spline curve. </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a3812e959c790f53fa88d286caf1f3c87">&#9670;&nbsp;</a></span>initNurbsCurvePCA()</h2>

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          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>order</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const vector_vec3d &amp;&#160;</td>
          <td class="paramname"><em>data</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>ncps</em> = <code>0</code>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>rf</em> = <code>1.0</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p>Initialize a closed B-Spline curve using the eigenvalues as elliptic parameters (z=0). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">order</td><td>polynomial order of the curve. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">data</td><td>3D point-cloud </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>B-Spline curve. </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a9a07a7bb3dfa8a764ebe35c48b8a7933">&#9670;&nbsp;</a></span>inverseMapping()</h2>

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          <td class="memname">static double pcl::on_nurbs::FittingCurve::inverseMapping </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;&#160;</td>
          <td class="paramname"><em>nurbs</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>pt</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double &amp;&#160;</td>
          <td class="paramname"><em>hint</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double &amp;&#160;</td>
          <td class="paramname"><em>error</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>p</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>t</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>maxSteps</em> = <code>100</code>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>accuracy</em> = <code>1e-6</code>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>quiet</em> = <code>true</code>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>Inverse mapping / point inversion: Given a point pt, this function finds the closest point on the B-Spline curve using Newtons method and point-distance (L2-, Euclidean norm). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">nurbs</td><td>the B-Spline curve. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">pt</td><td>the point to which the closest point on the curve will be computed. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">hint</td><td>the starting point in parametric domain (warning: may lead to convergence at local minima). </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">error</td><td>the distance between the point pt and p after convergence. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">p</td><td>closest point on curve. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">t</td><td>the tangent vector at point p. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">maxSteps</td><td>maximum number of iterations. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">accuracy</td><td>convergence criteria: if error is lower than accuracy the function returns </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>closest point on curve in parametric domain. </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a0cbfb2926c5daeb77755ee3ef7dedcdf">&#9670;&nbsp;</a></span>updateCurve()</h2>

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          <td class="memname">void pcl::on_nurbs::FittingCurve::updateCurve </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>damp</em></td><td>)</td>
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<p>Update curve according to the current system of equations. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">damp</td><td>damping factor from one iteration to the other. </td></tr>
  </table>
  </dd>
</dl>

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